/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2023 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "dma.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "USBCdc.h"
#include "canfestival.h"
#include "eeprom.h"
#include "eeprom_addresses.h"
#include "leds.h"
#include "adc.h"
#include "Usb_Control.h"
#include "grb_control.h"
#define DBG_TAG "main"
#define DBG_LVL DBG_LOG
#include <rtdbg.h>
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

static rt_thread_t tid_can;
static rt_thread_t tid_usbd;
static rt_thread_t tid_xd;

extern void XD_Thread_Entry(void* parameter);
extern void CAN_Thread_Entry(void* parameter);
extern void USBdevice_Thread_Entry(void* parameter);
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_CAN2_Init();
  /* USER CODE BEGIN 2 */
  Usb_Reconnect();

  blinkLed1(0,0);
  blinkLed2(0,0);
    if (HAL_FLASH_Unlock() == HAL_OK)
    {
        EE_Init();
        /* Note: If an erase operation in Flash memory also concerns data in the data or instruction cache,
         you have to make sure that these data are rewritten before they are accessed during code
         execution. If this cannot be done safely, it is recommended to flush the caches by setting the
         DCRST and ICRST bits in the FLASH_CR register. */
        __HAL_FLASH_DATA_CACHE_DISABLE();
        __HAL_FLASH_INSTRUCTION_CACHE_DISABLE();

        __HAL_FLASH_DATA_CACHE_RESET()
        ;
        __HAL_FLASH_INSTRUCTION_CACHE_RESET()
        ;

        __HAL_FLASH_INSTRUCTION_CACHE_ENABLE();
        __HAL_FLASH_DATA_CACHE_ENABLE();
    }

    __set_PRIMASK(1);
    tid_xd = rt_thread_create("xd",
                                XD_Thread_Entry,
                                RT_NULL,
                                XD_THREAD_STACK_SIZE,
                                XD_THREAD_PRIORITY,
                                XD_THREAD_TIME_SLICE);
    if (tid_xd != RT_NULL)
    {
        rt_thread_startup(tid_xd);
    }

    // CAN 内部初始化CANOpen、Motor
    tid_can = rt_thread_create("can",
                                CAN_Thread_Entry,
                                RT_NULL,
                                CAN_THREAD_STACK_SIZE,
                                CAN_THREAD_PRIORITY,
                                CAN_THREAD_TIME_SLICE);
    if (tid_can != RT_NULL)
    {
        rt_thread_startup(tid_can);
    }

    tid_usbd = rt_thread_create("usbd",
                                USBdevice_Thread_Entry,
                                RT_NULL,
                                USBD_THREAD_STACK_SIZE,
                                USBD_THREAD_PRIORITY,
                                USBD_THREAD_TIME_SLICE);
    if (tid_usbd != RT_NULL)
    {
        rt_thread_startup(tid_usbd);
    }
    __set_PRIMASK(0);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
    while (1)
    {
        updateLeds();
        car_strip_process();
        rt_thread_delay(50);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 25;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM6 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM6) {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */

  /* USER CODE END Callback 1 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (1)
    {
    }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
